Eugenics. Implement a basic income, or extended welfare, to cover everyone who's permanently out of work due to automation, but only allow people who are still economically productive (or otherwise have something of great value to offer to society) to reproduce.

If this sounds extreme, it's the only way to sustain a society where most low-skilled labor is automated, and even then it probably won't be enough to make up for the pace at which labor will become automated.

Eugenics is the way forward anyways, even if automation wasn't a thing. It would allow us to become smarter than the smartest individuals of every other race, thus giving us an economic and strategic advantage over other races and civilizations, it would make the average white person as physically attractive as the most attractive white models are currently, it would drastically reduce crime rates and increase social cohesion, and the increase in scientists and engineers would make it far easier for us to get rid of disease and eventually reach for the stars.